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<div class="title">fitting_curve_2d_sdm.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef NURBS_FITTING_CURVE_2D_SDM_H</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define NURBS_FITTING_CURVE_2D_SDM_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_tools.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_data.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_solve.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/fitting_curve_2d_pdm.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">namespace </span>on_nurbs</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  {</div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html">   56</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html">FittingCurve2dSDM</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html">FittingCurve2dPDM</a></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#a52dad69a3ad6dee5dbaa9eae43fa0705">   63</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#a52dad69a3ad6dee5dbaa9eae43fa0705">FittingCurve2dSDM</a> (<span class="keywordtype">int</span> order, <a class="code" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *data);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#a8920e2081e5d39e34ec56e691c7bff91">   69</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#a8920e2081e5d39e34ec56e691c7bff91">FittingCurve2dSDM</a> (<a class="code" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *data, <span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nc);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#a60f406cd24197e80c74b456b7bb05b8c">   76</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#a60f406cd24197e80c74b456b7bb05b8c">assemble</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m_1_1_parameter.html">Parameter</a> &amp;parameter);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#af659316fb74b4762e041af051d3020e1">   82</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#af659316fb74b4762e041af051d3020e1">solve</a> (<span class="keywordtype">double</span> damp = 1.0);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#a77751e1d710e154759cc3c3489c71b2c">   88</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#a77751e1d710e154759cc3c3489c71b2c">updateCurve</a> (<span class="keywordtype">double</span> damp);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#ad9df18ecc8622bb841e9b16062e426c5">   94</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#ad9df18ecc8622bb841e9b16062e426c5">addPointConstraint</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> &amp;param, <span class="keyword">const</span> Eigen::Vector2d &amp;point, <span class="keyword">const</span> Eigen::Vector2d &amp;normal,</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                            <span class="keyword">const</span> Eigen::Vector2d &amp;tangent, <span class="keywordtype">double</span> rho, <span class="keywordtype">double</span> d, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#a00c00743e6f7c5c728feef26c08275dd">   99</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#a00c00743e6f7c5c728feef26c08275dd">addCageRegularisation</a> (<span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#acc68518fba4ab948a97d1b2b5fa3bb64">  103</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#acc68518fba4ab948a97d1b2b5fa3bb64">assembleInterior</a> (<span class="keywordtype">double</span> wInt, <span class="keywordtype">double</span> rScale, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    };</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;}</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclass_o_n___nurbs_curve_html"><div class="ttname"><a href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a></div><div class="ttdef"><b>Definition:</b> opennurbs_nurbscurve.h:30</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m_html"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html">pcl::on_nurbs::FittingCurve2dPDM</a></div><div class="ttdoc">Fitting a 2D B-Spline curve to 2D point-clouds using point-distance-minimization Based on paper: TODO</div><div class="ttdef"><b>Definition:</b> fitting_curve_2d_pdm.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m_html"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html">pcl::on_nurbs::FittingCurve2dSDM</a></div><div class="ttdoc">Fitting a 2D B-Spline curve to 2D point-clouds using squared-distance-minimization Based on paper: TO...</div><div class="ttdef"><b>Definition:</b> fitting_curve_2d_sdm.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m_html_a00c00743e6f7c5c728feef26c08275dd"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#a00c00743e6f7c5c728feef26c08275dd">pcl::on_nurbs::FittingCurve2dSDM::addCageRegularisation</a></div><div class="ttdeci">virtual void addCageRegularisation(double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: smoothness by control point regularisation.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m_html_a52dad69a3ad6dee5dbaa9eae43fa0705"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#a52dad69a3ad6dee5dbaa9eae43fa0705">pcl::on_nurbs::FittingCurve2dSDM::FittingCurve2dSDM</a></div><div class="ttdeci">FittingCurve2dSDM(int order, NurbsDataCurve2d *data)</div><div class="ttdoc">Constructor initializing B-Spline curve using initNurbsCurve2D(...).</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m_html_a60f406cd24197e80c74b456b7bb05b8c"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#a60f406cd24197e80c74b456b7bb05b8c">pcl::on_nurbs::FittingCurve2dSDM::assemble</a></div><div class="ttdeci">virtual void assemble(const Parameter &amp;parameter)</div><div class="ttdoc">Assemble the system of equations for fitting</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m_html_a77751e1d710e154759cc3c3489c71b2c"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#a77751e1d710e154759cc3c3489c71b2c">pcl::on_nurbs::FittingCurve2dSDM::updateCurve</a></div><div class="ttdeci">virtual double updateCurve(double damp)</div><div class="ttdoc">Update curve according to the current system of equations.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m_html_a8920e2081e5d39e34ec56e691c7bff91"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#a8920e2081e5d39e34ec56e691c7bff91">pcl::on_nurbs::FittingCurve2dSDM::FittingCurve2dSDM</a></div><div class="ttdeci">FittingCurve2dSDM(NurbsDataCurve2d *data, const ON_NurbsCurve &amp;nc)</div><div class="ttdoc">Constructor initializing with the B-Spline curve given in argument 2.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m_html_acc68518fba4ab948a97d1b2b5fa3bb64"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#acc68518fba4ab948a97d1b2b5fa3bb64">pcl::on_nurbs::FittingCurve2dSDM::assembleInterior</a></div><div class="ttdeci">virtual void assembleInterior(double wInt, double rScale, unsigned &amp;row)</div><div class="ttdoc">Assemble point-to-surface constraints.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m_html_ad9df18ecc8622bb841e9b16062e426c5"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#ad9df18ecc8622bb841e9b16062e426c5">pcl::on_nurbs::FittingCurve2dSDM::addPointConstraint</a></div><div class="ttdeci">virtual void addPointConstraint(const double &amp;param, const Eigen::Vector2d &amp;point, const Eigen::Vector2d &amp;normal, const Eigen::Vector2d &amp;tangent, double rho, double d, double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: point-to-surface distance (squared-distance-minimization).</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m_html_af659316fb74b4762e041af051d3020e1"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#af659316fb74b4762e041af051d3020e1">pcl::on_nurbs::FittingCurve2dSDM::solve</a></div><div class="ttdeci">virtual double solve(double damp=1.0)</div><div class="ttdoc">Solve system of equations using Eigen or UmfPack (can be defined in on_nurbs.cmake),...</div></div>
<div class="ttc" id="astructpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m_1_1_parameter_html"><div class="ttname"><a href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m_1_1_parameter.html">pcl::on_nurbs::FittingCurve2dPDM::Parameter</a></div><div class="ttdoc">Parameters for fitting</div><div class="ttdef"><b>Definition:</b> fitting_curve_2d_pdm.h:61</div></div>
<div class="ttc" id="astructpcl_1_1on__nurbs_1_1_nurbs_data_curve2d_html"><div class="ttname"><a href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">pcl::on_nurbs::NurbsDataCurve2d</a></div><div class="ttdoc">Data structure for 2D NURBS curve fitting (FittingCurve2d, FittingCurve2dTDM, FittingCurve2dSDM)</div><div class="ttdef"><b>Definition:</b> nurbs_data.h:167</div></div>
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